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[paparazzi-commits] [5141] adding test progs for aspirin
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [5141] adding test progs for aspirin |
Date: |
Fri, 23 Jul 2010 17:06:11 +0000 |
Revision: 5141
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5141
Author: poine
Date: 2010-07-23 17:06:11 +0000 (Fri, 23 Jul 2010)
Log Message:
-----------
adding test progs for aspirin
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c 2010-07-23
17:06:11 UTC (rev 5141)
@@ -0,0 +1,283 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "peripherals/booz_hmc5843.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void main_init_hw(void);
+
+extern void exti4_irq_handler(void);
+
+int main(void) {
+ main_init();
+
+ while(1) {
+ if (sys_time_periodic())
+ main_periodic_task();
+ main_event_task();
+ }
+
+ return 0;
+}
+
+static inline void main_init( void ) {
+ hw_init();
+ sys_time_init();
+ main_init_hw();
+
+}
+
+static void write_to_reg(uint8_t addr, uint8_t val);
+static uint8_t read_fom_reg(uint8_t addr);
+
+static uint8_t foo=0;
+static volatile uint8_t inted = FALSE;
+static uint8_t values[6];
+
+
+#define ADXL345_REG_BW_RATE 0x2C
+#define ADXL345_REG_POWER_CTL 0x2D
+#define ADXL345_REG_INT_ENABLE 0x2E
+#define ADXL345_REG_DATA_FORMAT 0x31
+#define ADXL345_REG_DATA_X0 0x32
+#define ADXL345_REG_DATA_X1 0x33
+#define ADXL345_REG_DATA_Y0 0x34
+#define ADXL345_REG_DATA_Y1 0x35
+#define ADXL345_REG_DATA_Z0 0x36
+#define ADXL345_REG_DATA_Z1 0x37
+
+
+
+#define AccUnselect() GPIOB->BSRR = GPIO_Pin_12
+#define AccSelect() GPIOB->BRR = GPIO_Pin_12
+#define AccToggleSelect() GPIOB->ODR ^= GPIO_Pin_12
+
+static void write_to_reg(uint8_t addr, uint8_t val) {
+
+ AccSelect();
+ SPI_I2S_SendData(SPI2, addr);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ SPI_I2S_SendData(SPI2, val);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ AccUnselect();
+
+}
+
+static uint8_t read_fom_reg(uint8_t addr) {
+ AccSelect();
+ SPI_I2S_SendData(SPI2, (1<<7|addr));
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ uint8_t ret = SPI_I2S_ReceiveData(SPI2);
+ AccUnselect();
+ return ret;
+}
+
+static void read_data(void) {
+ AccSelect();
+ SPI_I2S_SendData(SPI2, (1<<7|1<<6|ADXL345_REG_DATA_X0));
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ uint8_t foo = SPI_I2S_ReceiveData(SPI2);
+
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[0] = SPI_I2S_ReceiveData(SPI2);
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[1] = SPI_I2S_ReceiveData(SPI2);
+
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[2] = SPI_I2S_ReceiveData(SPI2);
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[3] = SPI_I2S_ReceiveData(SPI2);
+
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[4] = SPI_I2S_ReceiveData(SPI2);
+ SPI_I2S_SendData(SPI2, 0x00);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+ values[5] = SPI_I2S_ReceiveData(SPI2);
+
+ AccUnselect();
+
+}
+
+
+static inline void main_periodic_task( void ) {
+
+
+ RunOnceEvery(10,
+ {
+ DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+ LED_PERIODIC();
+ });
+
+ switch (foo) {
+ case 1:
+ {
+ /* read data rate */
+ // uint8_t bar = read_fom_reg(ADXL345_REG_BW_RATE);
+ write_to_reg(ADXL345_REG_BW_RATE, 0x0D);
+ }
+ break;
+ case 2:
+ /* switch to measurememnt mode */
+ write_to_reg(ADXL345_REG_POWER_CTL, 1<<3);
+ break;
+ case 3:
+ /* switch to measurememnt mode */
+ write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
+ break;
+ case 4:
+ write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
+ break;
+ case 5:
+ // read_data();
+ break;
+ }
+
+ if (foo < 5) foo++;
+
+}
+
+
+static inline void main_event_task( void ) {
+
+ if (inted) {
+ LED_TOGGLE(6);
+ read_data();
+ inted = FALSE;
+ int16_t* iax = &values[0];
+ int16_t* iay = &values[2];
+ int16_t* iaz = &values[4];
+ RunOnceEvery(10, {DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, iax, iay,
iaz);});
+ //uint16_t* ax = &values[0];
+ //uint16_t* ay = &values[2];
+ //uint16_t* az = &values[4];
+ //RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, ax, ay,
az);});
+ }
+
+}
+
+static inline void main_init_hw( void ) {
+
+ /* configure acc slave select */
+ /* set acc slave select as output and assert it ( on PB12) */
+ AccUnselect();
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ /* configure external interrupt exti2 on PD2( accel int ) */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOD, &GPIO_InitStructure);
+ EXTI_InitTypeDef EXTI_InitStructure;
+ GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2);
+ EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+ NVIC_InitTypeDef NVIC_InitStructure;
+ NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+
+ /* Enable SPI2 Periph clock
-------------------------------------------------*/
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+
+ /* Configure GPIOs: SCK, MISO and MOSI --------------------------------*/
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+ SPI_Cmd(SPI2, ENABLE);
+
+ /* configure SPI */
+ SPI_InitTypeDef SPI_InitStructure;
+ SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+ SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+ SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+ SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
+ SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
+ SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+ SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
+ SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+ SPI_InitStructure.SPI_CRCPolynomial = 7;
+ SPI_Init(SPI2, &SPI_InitStructure);
+
+
+}
+
+
+void exti2_irq_handler(void) {
+
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line2);
+
+ // AccToggleSelect();
+ LED_ON(6);
+ inted = TRUE;
+
+
+}
+
Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c 2010-07-23
17:06:11 UTC (rev 5141)
@@ -0,0 +1,307 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "peripherals/booz_hmc5843.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void main_init_hw(void);
+
+static uint8_t i2c_done;
+static volatile uint8_t gyro_ready_for_read;
+
+extern void exti2_irq_handler(void);
+extern void exti3_irq_handler(void);
+extern void exti4_irq_handler(void);
+
+int main(void) {
+ main_init();
+
+ while(1) {
+ if (sys_time_periodic())
+ main_periodic_task();
+ main_event_task();
+ }
+
+ return 0;
+}
+
+static inline void main_init( void ) {
+ hw_init();
+ sys_time_init();
+ main_init_hw();
+
+ gyro_ready_for_read = FALSE;
+
+}
+
+static uint8_t foo=0;
+
+
+#define AccUnselect() GPIOB->BSRR = GPIO_Pin_12
+#define AccSelect() GPIOB->BRR = GPIO_Pin_12
+#define AccToggleSelect() GPIOB->ODR ^= GPIO_Pin_12
+
+
+static inline void main_periodic_task( void ) {
+ // LED_TOGGLE(6);
+ RunOnceEvery(10,
+ {
+ DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+ LED_PERIODIC();
+ });
+
+
+ switch (foo) {
+ case 2:
+ /* set gyro range to 2000deg/s and low pass at 256Hz */
+ i2c2.buf[0] = ITG3200_REG_DLPF_FS;
+ i2c2.buf[1] = 0x03;
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case 3:
+ /* switch to gyroX clock */
+ i2c2.buf[0] = ITG3200_REG_PWR_MGM;
+ i2c2.buf[1] = 0x01;
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case 4:
+ /* enable interrupt on data ready, idle hight */
+ i2c2.buf[0] = ITG3200_REG_INT_CFG;
+ i2c2.buf[1] = (0x01 | 0x01<<7);
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case 5:
+ /* set mag rate to 50Hz */
+ i2c2.buf[0] = HMC5843_REG_CFGA;
+ i2c2.buf[1] = 0x00 | (0x06 << 2);
+ i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+ break;
+ case 6:
+ /* Set mag gain to 1 Gauss */
+ i2c2.buf[0] = HMC5843_REG_CFGB;
+ i2c2.buf[1] = 0x01<<5;
+ i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+ break;
+ case 7:
+ /* set mag to continuous measurements */
+ i2c2.buf[0] = HMC5843_REG_MODE;
+ i2c2.buf[1] = 0x00;
+ i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+ break;
+ case 8:
+ /* reads 8 bytes from address 0x1b */
+ // i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+ // i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+ break;
+ default:
+ break;
+ }
+
+ if (foo< 8) foo++;
+
+
+ // AccToggleSelect();
+
+}
+
+
+static inline void main_event_task( void ) {
+
+
+}
+
+static inline void main_init_hw( void ) {
+
+ /* set mag ss as output and assert it (on PC12) = sda
------------------------------*/
+ /* mag drdy (on PB5) = mag int
*/
+ /* set mag reset as output and assert it (on PC13) = scl
------------------------------*/
+ /* set eeprom ss as output and assert it (on PC14) = gyro int
------------------------------*/
+ GPIOC->BSRR = GPIO_Pin_12;
+ GPIOC->BSRR = GPIO_Pin_13;
+ GPIOC->BSRR = GPIO_Pin_14;
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13|GPIO_Pin_14;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+ /* configure acc slave select */
+ /* set acc slave select as output and assert it ( on PB12) */
+ AccUnselect();
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ /* configure external interrupt exti4 on PD2( accel int ) */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOD, &GPIO_InitStructure);
+ EXTI_InitTypeDef EXTI_InitStructure;
+ GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2);
+ EXTI_InitStructure.EXTI_Line = EXTI_Line4;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+ NVIC_InitTypeDef NVIC_InitStructure;
+ NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+
+
+ /* configure external interrupt exti2 on PC14( gyro int ) */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+ GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
+ EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+
+ NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+ NVIC_Init(&NVIC_InitStructure);
+
+
+
+ /* configure external interrupt exti3 on PB5( mag int ) */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource5);
+ EXTI_InitStructure.EXTI_Line = EXTI_Line3;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+
+ NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+ NVIC_Init(&NVIC_InitStructure);
+
+
+ /* Enable SPI2 Periph clock
-------------------------------------------------*/
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+
+ /* Configure GPIOs: SCK, MISO and MOSI --------------------------------*/
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+ SPI_Cmd(SPI2, ENABLE);
+
+ /* configure SPI */
+ SPI_InitTypeDef SPI_InitStructure;
+ SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+ SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+ SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
+ SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
+ SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
+ SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+ SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;
+ SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+ SPI_InitStructure.SPI_CRCPolynomial = 7;
+ SPI_Init(SPI2, &SPI_InitStructure);
+
+
+}
+
+void exti2_irq_handler(void) {
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line2);
+
+ AccToggleSelect();
+#if 0
+ gyro_ready_for_read = TRUE;
+
+ if (gyro_ready_for_read && i2c_done && foo>=5) {
+ /* read gyros */
+ /* reads 8 bytes from address 0x1b */
+ i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+ i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+ gyro_ready_for_read = FALSE;
+ }
+#endif
+}
+
+void exti3_irq_handler(void) {
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line3) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line3);
+
+ // AccToggleSelect();
+
+
+}
+
+
+void exti4_irq_handler(void) {
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line4) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line4);
+
+ // AccToggleSelect();
+
+
+}
+
Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c 2010-07-23
17:06:11 UTC (rev 5141)
@@ -0,0 +1,201 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "std.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "my_debug_servo.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void main_init_hw(void);
+
+static uint8_t i2c_done = FALSE;
+#define INITIALISZED 5
+static uint8_t gyro_state = 0;
+static volatile uint8_t gyro_ready_for_read = FALSE;
+static uint8_t reading_gyro = FALSE;
+extern void exti2_irq_handler(void);
+
+
+int main(void) {
+ main_init();
+
+ while(1) {
+ if (sys_time_periodic())
+ main_periodic_task();
+ main_event_task();
+ }
+
+ return 0;
+}
+
+static inline void main_init( void ) {
+ hw_init();
+ sys_time_init();
+ main_init_hw();
+}
+
+static inline void main_periodic_task( void ) {
+ // LED_TOGGLE(6);
+ RunOnceEvery(10,
+ {
+ DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+ LED_PERIODIC();
+ });
+ RunOnceEvery(256,
+ {DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, &i2c2.errc_ack_fail,
&i2c2.errc_miss_start_stop,
+ &i2c2.errc_arb_lost, &i2c2.errc_over_under,
+ &i2c2.errc_pec_recep, &i2c2.errc_timeout_tlow,
+ &i2c2.errc_smbus_alert);
+ });
+
+ switch (gyro_state) {
+ case 2:
+ /* set gyro range to 2000deg/s and low pass at 256Hz */
+ i2c2.buf[0] = ITG3200_REG_DLPF_FS;
+ i2c2.buf[1] = 0x03;
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case 3:
+ /* switch to gyroX clock */
+ i2c2.buf[0] = ITG3200_REG_PWR_MGM;
+ i2c2.buf[1] = 0x01;
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case 4:
+ /* enable interrupt on data ready, idle hight */
+ i2c2.buf[0] = ITG3200_REG_INT_CFG;
+ i2c2.buf[1] = (0x01 | 0x01<<7);
+ i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+ break;
+ case INITIALISZED:
+ /* reads 8 bytes from address 0x1b */
+ i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+ i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+ reading_gyro = TRUE;
+ default:
+ break;
+ }
+
+ if (gyro_state < INITIALISZED) gyro_state++;
+
+}
+
+
+static inline void main_event_task( void ) {
+
+ if (gyro_state == INITIALISZED && gyro_ready_for_read) {
+ /* read gyros */
+ /* reads 8 bytes from address 0x1b */
+ // i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+ // i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+ gyro_ready_for_read = FALSE;
+ }
+
+ if (reading_gyro && i2c_done) {
+ RunOnceEvery(10,
+ {
+ int16_t temp = i2c2.buf[0]<<8 | i2c2.buf[1];
+ int16_t gp = i2c2.buf[2]<<8 | i2c2.buf[3];
+ int16_t gq = i2c2.buf[4]<<8 | i2c2.buf[5];
+ int16_t gr = i2c2.buf[6]<<8 | i2c2.buf[7];
+ DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &gp, &gq, &gr);
+ // uint8_t tmp[8];
+ // memcpy(tmp, i2c2.buf, 8);
+ // DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
+ }
+ );
+ reading_gyro = FALSE;
+ }
+
+
+}
+
+static inline void main_init_hw( void ) {
+ /* set mag ss as floating input (on PC12) = shorted to sda
------------------------------*/
+ /* set mag reset as floating input (on PC13) = shorted to scl
------------------------------*/
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+
+ /* set "eeprom ss" as floating input (on PC14) = gyro int
------------------------------*/
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+ /* configure external interrupt exti2 on PC14( gyro int ) */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+ GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
+ EXTI_InitTypeDef EXTI_InitStructure;
+ EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+ EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ EXTI_Init(&EXTI_InitStructure);
+
+ NVIC_InitTypeDef NVIC_InitStructure;
+ NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ // NVIC_Init(&NVIC_InitStructure);
+
+ DEBUG_SERVO2_INIT();
+
+}
+
+
+void exti2_irq_handler(void) {
+
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line2);
+
+ DEBUG_S4_TOGGLE();
+
+ gyro_ready_for_read = TRUE;
+
+}
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